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Multi-agent cyberphysical systems enable new capabilities in efficiency,resilience, and security. The unique characteristics of these systems prompt areevaluation of their security concepts, including their vulnerabilities, andmechanisms to mitigate these vulnerabilities. This survey paper examines howadvancement in wireless networking, coupled with the sensing and computing incyberphysical systems, can foster novel security capabilities. This studydelves into three main themes related to securing multi-agent cyberphysicalsystems. First, we discuss the threats that are particularly relevant tomulti-agent cyberphysical systems given the potential lack of trust betweenagents. Second, we present prospects for sensing, contextual awareness, andauthentication, enabling the inference and measurement of ``inter-agent trust"for these systems. Third, we elaborate on the application of quantifiable trustnotions to enable ``resilient coordination," where ``resilient" signifiessustained functionality amid attacks on multiagent cyberphysical systems. Werefer to the capability of cyberphysical systems to self-organize, andcoordinate to achieve a task as autonomy. This survey unveils the cyberphysicalcharacter of future interconnected systems as a pivotal catalyst for realizingrobust, trust-centered autonomy in tomorrow's world.

How Physicality Enables Trust: A New Era of Trust-Centered Cyberphysical Systems